为了提升协作式机器人Baxter在工作应用中识别抓取目标物体的准确性和鲁棒性, 对所涉及到的一些图像处理算法进行研究, 提出了基于HSV颜色模型和形态学处理的工作区域轮廓检测算法, 改进了传统识别圆的Hough变换算法。实验结果表明, 所提出和改进的算法能够提升协作式机器人Baxter对目标识别的准确性和鲁棒性。

To improve the accuracy and robustness of the cooperative robot Baxter when identifying and grasping target objects,the relevant image processing algorithms are studied.An algorithm for detecting the contour of the workspace is proposed based on HSV color model and morphological treatment,and the traditional Hough transform algorithm for detecting circles is improved.The experimental results show that,the proposed and improved algorithms can improve the accuracy and robustness of the cooperative robot Baxter when it is identifying and grasping target objects.